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          <span>Planning Framework</span>
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<li class="toctree-l1"><a class="reference internal" href="../getting_started/getting_started.html">Getting Started</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#install-ros-and-catkin">Install ROS and Catkin</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#install-moveit">Install MoveIt!</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#create-a-catkin-workspace">Create A Catkin Workspace</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#download-the-example-code">Download the Example Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#build-your-catkin-workspace">Build your Catkin Workspace</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#next-step">Next Step</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html">MoveIt! Quickstart in RViz</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-1-launch-the-demo-and-configure-the-plugin">Step 1: Launch the Demo and Configure the Plugin</a></li>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-2-play-with-the-visualized-robots">Step 2: Play with the Visualized Robots</a></li>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-3-interact-with-the-panda">Step 3: Interact with the Panda</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#moving-into-collision">Moving into collision</a></li>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#moving-out-of-reachable-workspace">Moving out of Reachable Workspace</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-4-use-motion-planning-with-the-panda">Step 4: Use Motion Planning with the Panda</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#introspecting-trajectory-waypoints">Introspecting Trajectory Waypoints</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#next-steps">Next Steps</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#rviz-visual-tools">RViz Visual Tools</a></li>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#saving-your-configuration">Saving Your Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#next-tutorials">Next Tutorials</a></li>
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<ul>
<li class="toctree-l1"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html">Move Group C++ Interface</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#setup">Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#getting-basic-information">Getting Basic Information</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#start-the-demo">Start the demo</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#planning-to-a-pose-goal">Planning to a Pose goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#visualizing-plans">Visualizing plans</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#moving-to-a-pose-goal">Moving to a pose goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#planning-to-a-joint-space-goal">Planning to a joint-space goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#planning-with-path-constraints">Planning with Path Constraints</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#cartesian-paths">Cartesian Paths</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#adding-removing-objects-and-attaching-detaching-objects">Adding/Removing Objects and Attaching/Detaching Objects</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html">Move Group Python Interface</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#start-rviz-and-movegroup-node">Start RViz and MoveGroup node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#getting-basic-information">Getting Basic Information</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#planning-to-a-joint-goal">Planning to a Joint Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#planning-to-a-pose-goal">Planning to a Pose Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#cartesian-paths">Cartesian Paths</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#displaying-a-trajectory">Displaying a Trajectory</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#executing-a-plan">Executing a Plan</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#adding-objects-to-the-planning-scene">Adding Objects to the Planning Scene</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#ensuring-collision-updates-are-receieved">Ensuring Collision Updates Are Receieved</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#attaching-objects-to-the-robot">Attaching Objects to the Robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#detaching-objects-from-the-robot">Detaching Objects from the Robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#removing-objects-from-the-planning-scene">Removing Objects from the Planning Scene</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_python_interface/move_group_python_interface_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html">MoveIt! Commander Scripting</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html#starting-rviz-and-the-command-line-tool">Starting RViz and the Command Line Tool</a></li>
<li class="toctree-l2"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html#using-the-moveit-commander-command-line-tool">Using the MoveIt! Commander Command Line Tool</a></li>
</ul>
</li>
</ul>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html">Robot Model and Robot State</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#the-robotmodel-and-robotstate-classes">The RobotModel and RobotState Classes</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#start">Start</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#get-joint-values">Get Joint Values</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#joint-limits">Joint Limits</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#forward-kinematics">Forward Kinematics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#inverse-kinematics">Inverse Kinematics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#get-the-jacobian">Get the Jacobian</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#debugging-the-robot-state">Debugging the Robot State</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html">Planning Scene</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#the-entire-code">The entire code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#setup">Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#collision-checking">Collision Checking</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#self-collision-checking">Self-collision checking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#change-the-state">Change the state</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#checking-for-a-group">Checking for a group</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#getting-contact-information">Getting Contact Information</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#modifying-the-allowed-collision-matrix">Modifying the Allowed Collision Matrix</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#full-collision-checking">Full Collision Checking</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#constraint-checking">Constraint Checking</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#checking-kinematic-constraints">Checking Kinematic Constraints</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#user-defined-constraints">User-defined constraints</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#the-launch-file">The launch file</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#running-the-code">Running the code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#expected-output">Expected Output</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html">Planning Scene ROS API</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#running-the-code">Running the code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#the-entire-code">The entire code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#ros-api">ROS API</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#advertise-the-required-topic">Advertise the required topic</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#define-the-attached-object-message">Define the attached object message</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#add-an-object-into-the-environment">Add an object into the environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates">Interlude: Synchronous vs Asynchronous updates</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#attach-an-object-to-the-robot">Attach an object to the robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#detach-an-object-from-the-robot">Detach an object from the robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#remove-the-object-from-the-collision-world">Remove the object from the collision world</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#the-launch-file">The launch file</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#debugging-the-planning-scene-monitor">Debugging the Planning Scene Monitor</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html">Motion Planning API</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#running-the-demo">Running the Demo</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#start">Start</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#pose-goal">Pose Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#visualize-the-result">Visualize the result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#joint-space-goals">Joint Space Goals</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#adding-path-constraints">Adding Path Constraints</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html">Motion Planning Pipeline</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#start">Start</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#pose-goal">Pose Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#visualize-the-result">Visualize the result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#joint-space-goals">Joint Space Goals</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#using-a-planning-request-adapter">Using a Planning Request Adapter</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html">Visualizing Collisions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#classes">Classes</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#interacting">Interacting</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#relevant-code">Relevant Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#initializing-the-planning-scene-and-markers">Initializing the Planning Scene and Markers</a></li>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#collision-requests">Collision Requests</a></li>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#checking-for-collisions">Checking for Collisions</a></li>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#displaying-collision-contact-points">Displaying Collision Contact Points</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#launch-file">Launch file</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html">Time Parameterization</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#speed-control">Speed Control</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#from-file">From File</a></li>
<li class="toctree-l3"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#during-runtime">During Runtime</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#time-parameterization-algorithms">Time Parameterization Algorithms</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html">Planning with Approximated Constraint Manifolds</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#creating-the-constraint-database">Creating the Constraint Database</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#constraints-message">Constraints message</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#construction-options">Construction Options</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#graph-size">Graph size</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#edges">Edges</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#database-construction">Database Construction</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#database-loading-and-usage">Database Loading and Usage</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../pick_place/pick_place_tutorial.html">Pick and Place Tutorial</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#running-the-demo">Running The Demo</a></li>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#understanding-moveit-msgs-grasp">Understanding <tt class="docutils literal"><span class="pre">moveit_msgs::Grasp</span></tt></a></li>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#creating-environment">Creating Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#pick-pipeline">Pick Pipeline</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-grasp-pose">Setting grasp pose</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-pre-grasp-approach">Setting pre-grasp approach</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-post-grasp-retreat">Setting post-grasp retreat</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-posture-of-eef-before-grasp">Setting posture of eef before grasp</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-posture-of-eef-during-grasp">Setting posture of eef during grasp</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#place-pipeline">Place Pipeline</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-place-location-pose">Setting place location pose</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-pre-place-approach">Setting pre-place approach</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#id2">Setting post-grasp retreat</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-posture-of-eef-after-placing-object">Setting posture of eef after placing object</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
</ul>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html">MoveIt! Setup Assistant</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#overview">Overview</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-1-start">Step 1: Start</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-2-generate-self-collision-matrix">Step 2: Generate Self-Collision Matrix</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-3-add-virtual-joints">Step 3: Add Virtual Joints</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-4-add-planning-groups">Step 4: Add Planning Groups</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-5-add-robot-poses">Step 5: Add Robot Poses</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-6-label-end-effectors">Step 6: Label End Effectors</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-7-add-passive-joints">Step 7: Add Passive Joints</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-8-3d-perception">Step 8: 3D Perception</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-9-gazebo-simulation">Step 9: Gazebo Simulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-10-ros-control">Step 10: ROS Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-11-add-author-information">Step 11: Add Author Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-12-generate-configuration-files">Step 12: Generate Configuration Files</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#what-s-next">What&#8217;s Next</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#additional-reading">Additional Reading</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html">URDF and SRDF</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#urdf">URDF</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#urdf-resources">URDF Resources</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#important-tips">Important Tips</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#special-characters-in-joint-names">Special Characters in Joint Names</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#safety-limits">Safety Limits</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collision-checking">Collision Checking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#test-your-urdf">Test your URDF</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#urdf-examples">URDF Examples</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#srdf">SRDF</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#virtual-joints">Virtual Joints</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#passive-joints">Passive Joints</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#groups">Groups</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collection-of-joints">Collection of Joints</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collection-of-links">Collection of Links</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#serial-chain">Serial Chain</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collection-of-sub-groups">Collection of Sub-Groups</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#end-effectors">End-Effectors</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#self-collisions">Self-Collisions</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#robot-poses">Robot Poses</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#srdf-documentation">SRDF Documentation</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1 current"><a class="current reference internal" href="">Low Level Controllers</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#yaml-configuration">YAML Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="#followjointtrajectory-controller-interface">FollowJointTrajectory Controller Interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="#grippercommand-controller-interface">GripperCommand Controller Interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="#optional-allowed-trajectory-execution-duration-parameters">Optional Allowed Trajectory Execution Duration Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="#create-the-controller-launch-file">Create the Controller launch file</a></li>
<li class="toctree-l2"><a class="reference internal" href="#debugging-information">Debugging Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="#remapping-joint-states-topic">Remapping /joint_states topic</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trajectory-execution-manager-options">Trajectory Execution Manager Options</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html">Perception Pipeline Tutorial</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#configuration">Configuration</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#yaml-configuration-file-point-cloud">YAML Configuration file (Point Cloud)</a></li>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#yaml-configuration-file-depth-map">YAML Configuration file (Depth Map)</a></li>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#update-the-launch-file">Update the launch file</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#add-the-yaml-file-to-the-launch-script">Add the YAML file to the launch script</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#octomap-configuration">Octomap Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#obstacle-avoidance">Obstacle Avoidance</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#running-the-interface">Running the Interface</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#detecting-and-adding-object-as-collision-object">Detecting and Adding Object as Collision Object</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#relevant-code">Relevant Code</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#perception-related">Perception Related</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#storing-relevant-cylinder-values">Storing Relevant Cylinder Values</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#extracting-location-and-height">Extracting Location and Height</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#adding-cylinder-to-planning-scene">Adding Cylinder to Planning Scene</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../ikfast/ikfast_tutorial.html">IKFast Kinematics Solver</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#what-is-ikfast">What is IKFast?</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#moveit-ikfast">MoveIt! IKFast</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#moveit-ikfast-installation">MoveIt! IKFast Installation</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#openrave-installation">OpenRAVE Installation</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#create-collada-file-for-use-with-openrave">Create Collada File For Use With OpenRAVE</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#parameters">Parameters</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#create-ikfast-solution-cpp-file">Create IKFast Solution CPP File</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#select-ik-type">Select IK Type</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#choose-planning-group">Choose Planning Group</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#identify-link-numbers">Identify Link Numbers</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#generate-ik-solver">Generate IK Solver</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#create-plugin">Create Plugin</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#usage">Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#test-the-plugin">Test the Plugin</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#updating-the-plugin">Updating the Plugin</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../trac_ik/trac_ik_tutorial.html">TRAC-IK Kinematics Solver</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../trac_ik/trac_ik_tutorial.html#install">Install</a></li>
<li class="toctree-l2"><a class="reference internal" href="../trac_ik/trac_ik_tutorial.html#usage">Usage</a></li>
</ul>
</li>
</ul>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html">Kinematics Configuration</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#the-kinematics-yaml-file">The kinematics.yaml file</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#parameters">Parameters</a></li>
<li class="toctree-l3"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#the-kdl-kinematics-plugin">The KDL Kinematics Plugin</a></li>
<li class="toctree-l3"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#the-lma-kinematics-plugin">The LMA Kinematics Plugin</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#position-only-ik">Position Only IK</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../fake_controller_manager/fake_controller_manager_tutorial.html">Fake Controller Manager</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../fake_controller_manager/fake_controller_manager_tutorial.html#yaml-file-examples">YAML file examples</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html">Custom Constraint Samplers</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html#overview">Overview</a></li>
<li class="toctree-l2"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html#creating-a-constraint-sampler">Creating a constraint sampler</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html">OMPL Planner</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#ompl-settings">OMPL Settings</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#longest-valid-segment-fraction">Longest Valid Segment Fraction</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#projection-evaluator">Projection Evaluator</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#tweaking-some-of-the-parameters-for-chomp">Tweaking some of the parameters for CHOMP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#difference-between-plans-obtained-by-chomp-and-ompl">Difference between plans obtained by CHOMP and OMPL</a></li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#using-ompl-as-a-pre-processor-for-chomp">Using OMPL as a pre-processor for CHOMP</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#running-stomp-with-obstacles-in-the-scene">Running STOMP with Obstacles in the Scene</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#tweaking-some-of-the-parameters-for-stomp">Tweaking some of the parameters for STOMP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#difference-between-plans-obtained-by-stomp-chomp-and-ompl">Difference between plans obtained by STOMP, CHOMP and OMPL</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#running-stomp-unit-tests">Running STOMP Unit Tests</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#getting-started">Getting Started</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#installing-moveit-from-source">Installing MoveIt! from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#using-planning-request-adapter-with-your-motion-planner">Using Planning Request Adapter with Your Motion Planner</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-ompl-as-a-pre-processor-for-chomp">Running OMPL as a pre-processor for CHOMP</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-chomp-as-a-post-processor-for-stomp">Running CHOMP as a post-processor for STOMP</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-ompl-as-a-pre-processor-for-stomp">Running OMPL as a pre-processor for STOMP</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-stomp-as-a-post-processor-for-chomp">Running STOMP as a post-processor for CHOMP</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#planning-insights-for-different-motion-planners-and-planners-with-planning-adapters">Planning Insights for different motion planners and planners with planning adapters</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html">Joystick Control Teleoperation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html#getting-started">Getting Started</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html#joystick-command-mappings">Joystick Command Mappings</a></li>
<li class="toctree-l2"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html#debugging">Debugging</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#getting-started">Getting Started</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#parameters-of-the-benchmarkoptions-class">Parameters of the BenchmarkOptions Class</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#benchmarking-of-different-motion-planners-chomp-stomp-and-ompl">Benchmarking of Different Motion Planners: CHOMP, STOMP and OMPL</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#benchmarking-in-a-scene-without-obstacles">Benchmarking in a scene without obstacles</a></li>
<li class="toctree-l3"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#benchmarking-in-a-scene-with-obstacles">Benchmarking in a scene with obstacles</a></li>
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  <div class="section" id="low-level-controllers">
<h1>Low Level Controllers<a class="headerlink" href="#low-level-controllers" title="Permalink to this headline">¶</a></h1>
<p>In this section, we will walk through configuring MoveIt! with the controllers on your robot. We will assume that your robot offers a <tt class="docutils literal"><span class="pre">FollowJointTrajectory</span></tt> action service for the arms on your robot and (optionally) a <tt class="docutils literal"><span class="pre">GripperCommand</span></tt> service for your gripper. If your robot does not offer this we recommend the <a class="reference external" href="http://wiki.ros.org/ros_control">ROS control</a> framework for easily adding this functionality around your hardware communication layer.</p>
<div class="section" id="yaml-configuration">
<h2>YAML Configuration<a class="headerlink" href="#yaml-configuration" title="Permalink to this headline">¶</a></h2>
<p>The first file to create is a YAML configuration file (call it <tt class="docutils literal"><span class="pre">controllers.yaml</span></tt> and place it in the <tt class="docutils literal"><span class="pre">robot_moveit_config/config</span></tt> directory of your MoveIt! robot config package). This will specify the controller configuration for your robot. Here&#8217;s an example file for configuring a <tt class="docutils literal"><span class="pre">FollowJointTrajectory</span></tt> action controller for the <tt class="docutils literal"><span class="pre">panda_arm</span></tt> and a <tt class="docutils literal"><span class="pre">GripperCommand</span></tt> gripper controller for its <tt class="docutils literal"><span class="pre">hand</span></tt>:</p>
<div class="highlight-python"><div class="highlight"><pre>controller_list:
 - name: panda_arm_controller
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: true
   joints:
     - panda_joint1
     - panda_joint2
     - panda_joint3
     - panda_joint4
     - panda_joint5
     - panda_joint6
     - panda_joint7
 - name: hand_controller
   action_ns: gripper_action
   type: GripperCommand
   default: true
   parallel: true
   joints:
     - panda_finger_joint1
     - panda_finger_joint2
</pre></div>
</div>
<p>We will walk through the parameters for both types of controllers.</p>
</div>
<div class="section" id="followjointtrajectory-controller-interface">
<h2>FollowJointTrajectory Controller Interface<a class="headerlink" href="#followjointtrajectory-controller-interface" title="Permalink to this headline">¶</a></h2>
<dl class="docutils">
<dt>The parameters are:</dt>
<dd><ul class="first last simple">
<li><em>name</em>: The name of the controller.  (See debugging information below for important notes).</li>
<li><em>action_ns</em>: The action namespace for the controller. (See debugging information below for important notes).</li>
<li><em>type</em>: The type of action being used (here FollowJointTrajectory).</li>
<li><em>default</em>: The default controller is the primary controller chosen by MoveIt! for communicating with a particular set of joints.</li>
<li><em>joints</em>: Names of all the joints that are being addressed by this interface.</li>
</ul>
</dd>
</dl>
</div>
<div class="section" id="grippercommand-controller-interface">
<h2>GripperCommand Controller Interface<a class="headerlink" href="#grippercommand-controller-interface" title="Permalink to this headline">¶</a></h2>
<dl class="docutils">
<dt>The parameters are:</dt>
<dd><ul class="first last simple">
<li><em>name</em>: The name of the controller.  (See debugging information below for important notes).</li>
<li><em>action_ns</em>: The action namespace for the controller. (See debugging information below for important notes).</li>
<li><em>type</em>: The type of action being used (here GripperCommand).</li>
<li><em>default</em>: The default controller is the primary controller chosen by MoveIt! for communicating with a particular set of joints.</li>
<li><em>joints</em>: Names of all the joints that are being addressed by this interface.</li>
<li><em>parallel</em>: When this is set, <em>joints</em> should be of size 2, and the command will be the sum of the two joints.</li>
</ul>
</dd>
</dl>
</div>
<div class="section" id="optional-allowed-trajectory-execution-duration-parameters">
<h2>Optional Allowed Trajectory Execution Duration Parameters<a class="headerlink" href="#optional-allowed-trajectory-execution-duration-parameters" title="Permalink to this headline">¶</a></h2>
<p>For each controller it is optionally possible to set the <em>allowed_execution_duration_scaling</em> and <em>allowed_goal_duration_margin</em> parameters. These are controller-specific overrides of the global values <em>trajectory_execution/allowed_execution_duration_scaling</em> and <em>trajectory_execution/allowed_goal_duration_margin</em>. As opposed to the global values, the contoller-specific ones cannot be dynamically reconfigured at runtime. The parameters are used to compute the allowed trajectory execution duration by scaling the expected execution duration and adding the margin afterwards. If this duration is exceeded the trajectory will be cancelled. The controller-specific parameters can be set as follows</p>
<div class="highlight-python"><div class="highlight"><pre>controller_list:
 - name: arm_controller
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   allowed_execution_duration_scaling: 1.2
   allowed_goal_duration_margin: 0.5
</pre></div>
</div>
</div>
<div class="section" id="create-the-controller-launch-file">
<h2>Create the Controller launch file<a class="headerlink" href="#create-the-controller-launch-file" title="Permalink to this headline">¶</a></h2>
<p>Now, create the controller launch file (call it <tt class="docutils literal"><span class="pre">robot_moveit_controller_manager.launch.xml</span></tt> where <tt class="docutils literal"><span class="pre">robot</span></tt> is the name of your robot as specified when you created your MoveIt! robot config package).</p>
<p>Add the following lines to this file:</p>
<div class="highlight-python"><div class="highlight"><pre>&lt;launch&gt;
 &lt;!-- Set the param that trajectory_execution_manager needs to find the controller plugin --&gt;
 &lt;arg name=&quot;moveit_controller_manager&quot; default=&quot;moveit_simple_controller_manager/MoveItSimpleControllerManager&quot; /&gt;
 &lt;param name=&quot;moveit_controller_manager&quot; value=&quot;$(arg moveit_controller_manager)&quot;/&gt;
 &lt;!-- load controller_list --&gt;
 &lt;rosparam file=&quot;$(find robot_moveit_config)/config/controllers.yaml&quot;/&gt;
&lt;/launch&gt;
</pre></div>
</div>
<p>MAKE SURE to replace <tt class="docutils literal"><span class="pre">robot_moveit_config</span></tt> with the correct name of your MoveIt! robot config package.</p>
<p>Now, you should be ready to have MoveIt! talk to your robot.</p>
</div>
<div class="section" id="debugging-information">
<h2>Debugging Information<a class="headerlink" href="#debugging-information" title="Permalink to this headline">¶</a></h2>
<p>The <tt class="docutils literal"><span class="pre">FollowJointTrajectory</span></tt> or <tt class="docutils literal"><span class="pre">GripperCommand</span></tt> interfaces on your robot must be communicating in the namespace: <tt class="docutils literal"><span class="pre">/name/action_ns</span></tt>. In the above example, you should be able to see the following topics (using <em>rostopic list</em>) on your robot:</p>
<blockquote>
<div><ul class="simple">
<li>/panda_arm_controller/follow_joint_trajectory/goal</li>
<li>/panda_arm_controller/follow_joint_trajectory/feedback</li>
<li>/panda_arm_controller/follow_joint_trajectory/result</li>
<li>/hand_controller/gripper_action/goal</li>
<li>/hand_controller/gripper_action/feedback</li>
<li>/hand_controller/gripper_action/result</li>
</ul>
</div></blockquote>
<p>You should also be able to see (using <tt class="docutils literal"><span class="pre">rostopic</span> <span class="pre">info</span> <span class="pre">topic_name</span></tt>) that the topics are published/subscribed to by the controllers on your robot and also by the <strong>move_group</strong> node.</p>
</div>
<div class="section" id="remapping-joint-states-topic">
<h2>Remapping /joint_states topic<a class="headerlink" href="#remapping-joint-states-topic" title="Permalink to this headline">¶</a></h2>
<p>When you run a <a class="reference external" href="../move_group_interface/move_group_interface_tutorial.html">move group node</a>, you may need to remap the topic /joint_states to /robot/joint_states, otherwise MoveIt! won&#8217;t have feedback from the joints. To do this remapping you could make a simple launch file for your node as follows:</p>
<div class="highlight-python"><div class="highlight"><pre>&lt;node pkg=&quot;moveit_ros_move_group&quot; type=&quot;move_group&quot; name=&quot;any_name&quot; output=&quot;screen&quot;&gt;
  &lt;remap from=&quot;joint_states&quot; to=&quot;robot/joint_states&quot;/&gt;
&lt;/node&gt;
</pre></div>
</div>
<p>Or you can make a subscriber with the correct topic name and then ensure that the starting robot state for your move group corresponds to a correct joints angle by using the call back of this subscriber.</p>
</div>
<div class="section" id="trajectory-execution-manager-options">
<h2>Trajectory Execution Manager Options<a class="headerlink" href="#trajectory-execution-manager-options" title="Permalink to this headline">¶</a></h2>
<p>There are several options for tuning the behavior and safety checks of the execution pipeline in MoveIt!. In your <tt class="docutils literal"><span class="pre">moveit_config</span></tt> package edit the <tt class="docutils literal"><span class="pre">trajectory_execution.launch.xml</span></tt> file to change the following parameters:</p>
<blockquote>
<div><ul class="simple">
<li><tt class="docutils literal"><span class="pre">execution_duration_monitoring</span></tt>: when false, will not throw error is trajectory takes longer than expected to complete at the low-level controller side</li>
<li><tt class="docutils literal"><span class="pre">allowed_goal_duration_margin</span></tt>: Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling)</li>
<li><tt class="docutils literal"><span class="pre">allowed_start_tolerance</span></tt>: Allowed joint-value tolerance for validation that trajectory&#8217;s first point matches current robot state. If set to zero will skip waiting for robot to stop after execution</li>
</ul>
</div></blockquote>
</div>
</div>


            
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